Vehicle controller and method

Abstract

A method for providing a steering recommendation for a vehicle for negotiating an obstacle includes receiving terrain information, the terrain information indicative of a surface of an obstacle, the surface facing an approaching wheel of the vehicle. The method further includes determining, from the terrain information, at least one characteristic of the facing surface of the obstacle and determining, in dependence on the determined at least one characteristic, a steering recommendation for the wheel to negotiate the obstacle. The method further includes providing the steering recommendation for use in negotiating the obstacle. A computer-readable medium, a controller, a system and a vehicle are also provided.

The invention claimed is: 
     
       1. A method for providing a steering recommendation for a vehicle for negotiating an obstacle, the method comprising:
 receiving terrain information, the terrain information indicative of a surface of an obstacle, the surface facing an approaching wheel of the vehicle; 
 determining, from the terrain information, at least one characteristic of the facing surface of the obstacle; 
 determining, in dependence on the determined at least one characteristic, a steering recommendation for the wheel to negotiate the obstacle, 
 wherein negotiating the obstacle includes finding a way over, through, or around the obstacle; 
 wherein determining the at least one characteristic of the surface of the obstacle comprises determining a gradient of the surface; and 
 automatically controlling a vehicle steering system based on the steering recommendation. 
 
     
     
       2. The method according to  claim 1 , wherein receiving terrain information comprises sensing terrain information using at least one sensor of the vehicle. 
     
     
       3. The method according to  claim 1 , further comprising determining, from the terrain information, a height of the obstacle. 
     
     
       4. Tue method according to  claim 3 , further comprising determining that the height of the obstacle is above a threshold value, and wherein providing a steering recommendation for the wheel to negotiate the obstacle comprises providing, in dependence on the determination that the height of the obstacle is above the threshold value, a steering recommendation for the wheel to bypass the obstacle. 
     
     
       5. The method according to  claim 1 , wherein determining at least one characteristic of the surface of the obstacle comprises determining an angle of the surface relative to a direction of travel of the wheel. 
     
     
       6. The method according to  claim 5 , wherein providing a steering recommendation comprises providing a recommendation to adjust an angle of the direction of travel of the wheel relative to the surface. 
     
     
       7. The method according to  claim 6 , wherein the recommendation to adjust the angle of the direction of travel of the wheel relative to the surface comprises at least one of: an indication to adjust the direction of travel of the wheel such that the adjusted direction of travel is substantially perpendicular to a longitudinal horizontal extent of the surface of the obstacle, and adjusting the angle in order to mitigate a risk of damage to the wheel. 
     
     
       8. The method according to  claim 1 , further comprising monitoring a progression of the vehicle over the terrain, and wherein determining a steering recommendation comprises determining a steering recommendation in dependence on the progression of the vehicle over the terrain and the determined at least one characteristic of the surface. 
     
     
       9. The method according to  claim 8 , wherein monitoring a progression of the vehicle over the terrain comprises receiving a ground speed signal indicative of a speed over the terrain of the vehicle, and wherein determining a steering recommendation comprises determining a steering recommendation in dependence on the received ground speed signal and the determined at least one characteristic of the surface. 
     
     
       10. The method according to  claim 8 , further comprising generating a three-dimensional map of the terrain from the received terrain information. 
     
     
       11. The method according to  claim 10 , further comprising processing the received terrain information in order to generate a three-dimensional map of the terrain outside of a field of view of one or more sensors of the vehicle. 
     
     
       12. The method according to  claim 1 , wherein providing a steering recommendation for the vehicle comprises at least one of:
 providing a visual indication of the steering recommendation; and 
 providing a haptic indication of the steering recommendation. 
 
     
     
       13. A non-transitory computer readable medium having instructions stored thereon which, when read by a processor, cause the processor to perform the method according to  claim 1 . 
     
     
       14. A controller for a vehicle, the controller operable to provide a steering recommendation for the vehicle to negotiate an obstacle, the controller comprising:
 a communications module configured to receive terrain information indicative of a surface of an obstacle, the surface facing an approaching wheel of the vehicle; 
 a processor configured to determine: 
 a gradient at least one of the surface of the obstacle in dependence on the terrain information, and 
 a steering recommendation for the wheel to negotiate the obstacle in dependence on the determined gradient; and 
 an electrical output configured to provide the steering recommendation for use in negotiating the obstacle. 
 
     
     
       15. The controller according to  claim 14 , wherein the processor is further configured to determine, from the terrain information, a height of the obstacle and whether the height of the obstacle is above a threshold value. 
     
     
       16. The controller according to  claim 14 , wherein the processor is further configured to determine, an angle of the surface relative to a direction of travel of the wheel. 
     
     
       17. A system operable to provide a steering recommendation for a vehicle to negotiate an obstacle, the system comprising:
 a sensor configured to receive terrain information, the terrain information indicative of a surface of the obstacle, the surface facing an approaching wheel of the vehicle; and 
 the controller according to  claim 14 . 
 
     
     
       18. The system according to  claim 17 , wherein the sensor comprises at least one of:
 a stereoscopic three-dimensional camera; 
 a rear facing camera; 
 a radar sensor; 
 a light detection and ranging, LIDAR, sensor; a sonar sensor; and 
 a six-axis accelerometer. 
 
     
     
       19. A vehicle comprising the system according to  claim 18 .